Mobile Robot Tracking Control for Large Workpiece Interaction
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Solution Overview
Problem
Current robotic systems for interacting with workpieces are inefficient due to the need for separate metrology devices for calibration, 'dry run' corrections, and the requirement for multiple robots with varying working envelopes, which are impractical for high-accuracy operations and large workpieces.
Innovation Solution
A mobile robot with a tracker and end effector that adjusts in real-time based on feedback from the tracker, allowing continuous interaction with a workpiece by moving the entire robot across the ground, thereby extending its working envelope dynamically and enabling interaction with larger workpieces than its static reach.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Area of stationary object
If a robot uses a fixed working envelope to interact with a workpiece, then the robot can maintain stable and accurate positioning within its range, but it cannot interact with workpieces that exceed its static reach
Solution Approach 1:
The patent makes the robot's working envelope dynamic by enabling the entire robot to transport across the ground relative to the workpiece. The robot transitions from a static position to a mobile platform, allowing the working envelope to expand and move with the robot body while the end effector maintains its operational range relative to the robot base.
Solution Approach 2:
The patent adds the dimension of ground transport to the robot's operational capabilities. By enabling movement of the entire robot body across the ground in a transporting direction, the system extends its reach beyond the static working envelope in the vertical and horizontal axes by introducing horizontal displacement of the base.
2Manufacturing precision
If separate metrology devices and dry run corrections are used for calibration, then the robot can achieve accurate positioning, but the assembly process becomes inefficient and time-consuming
Solution Approach 1:
The patent merges the metrology tracking function with the robot's operational system. The tracker is integrated into the robot structure and provides continuous real-time feedback during actual work operations, eliminating the need for separate calibration procedures and combining measurement and execution functions.
Solution Approach 2:
The patent implements continuous feedback from the tracker during real-time operation. The tracker monitors the workpiece and provides ongoing positional information that the control system uses to adjust the end effector position dynamically, replacing discrete calibration steps with continuous adaptive correction.
3Area of stationary object
If multiple robots with different working envelopes are used to interact with large workpieces, then complete coverage is achieved, but device complexity and cost increase
Solution Approach 1:
The patent makes a single robot universally applicable to workpieces of varying sizes by enabling ground transport. The same robot can handle both small workpieces within its static working envelope and large workpieces by transporting its base across the ground, eliminating the need for multiple specialized robots.
Solution Approach 2:
The robot's working envelope dynamically adapts to the workpiece size through base transport. Instead of requiring different robots for different workpiece sizes, the system dynamically repositions its base to maintain the end effector within operational range while the tracker continuously updates positioning information.
4Measurement precision
If the tracker tracks a region ahead of the end effector interaction point, then real-time feedback is improved, but the robot must continuously adjust its position to maintain accuracy
Solution Approach 1:
The tracker is positioned to track a first region ahead of the second region where the end effector interacts with the workpiece. This preliminary tracking provides advance positional information about the workpiece geometry and position, allowing the control system to pre-calculate required adjustments before the end effector reaches the interaction point.
Solution Approach 2:
The control system uses feedback from the advance tracking to continuously adjust the robot's base position and end effector orientation. The real-time positional data from the tracker enables dynamic correction of the robot's trajectory and positioning to maintain accurate interaction despite movements in the transporting direction.
Data Source
AI summary
A mobile robot for interacting with a workpiece is disclosed as the mobile robot transports across the ground relative to the workpiece. The mobile robot includes a tracker for tracking the workpiece; an end effector for interacting with the workpiece based on feedback from the tracker; and a control system. The control system is configured such that when the mobile robot is transporting in a transporting direction across the ground relative to the workpiece such that the tracker is tracking a first region of the workpiece, the control system causes the mobile robot to adjust according to the feedback from the tracker and effect a position of the end effector when interacting the end effector with the second region of the workpiece.